WO1997020166A1

WO1997020166A1 - Support intended in particular for a surgical microscope

Info

Publication number: WO1997020166A1
Application number: PCT/EP1996/005241
Authority: WO
Inventors: Andreas Metelski; Karl-Heinz Wäger
Original assignee: Leica Ag
Priority date: 1995-11-27
Filing date: 1996-11-27
Publication date: 1997-06-05
Also published as: EP0864063B1; DE59610180D1; US6162523A; EP0864063A1; JP2001516461A

Abstract

The invention concerns a novel support which has at least one bearing unit (1, 2, 4, 16, 40) made from a fibre-reinforced synthetic material and which is therefore light and stable and has positive optical characteristics. In a further embodiment, the invention is provided with vibration damping means between adjacent bearing elements (1, 2, 4, 16, 40) or parts of the bearing elements.

Description

Tripod, especially for a surgical microscope-corrected version¬

In surgery, more and more surgical microscopes are used, which have to be carried by tripods due to their high weight. A number of well-known manufacturers brought tripods onto the market which correspond mechanically and statically well to the requirements of taking up the load of the surgical microscope. The applicant sells e.g. Tripods with the designation OH, which u.a. made by Mitaka. An example of such a tripod can be found in EP-A-628290. Zeiss published a tripod e.g. m of EP-476552. Most of the more modern tripods have parallelogram carriers in order to be able to carry the load of the surgical microscopes over the greatest possible distances without bending or using them, so that the freedom of movement and the radius of action of the microscope are as large as possible.

EP-A-628290, for example, shows such a structure. The e.g. m Fig.l structure has a C-shaped solid base, which carries a first vertically extending parallelogram pivotable about a vertical pivot axis. The first parallelogram carrier carries a second, horizontally stretched parallelogram carrier, which is pivotable about a first horizontal pivot axis. A connection between the two parallelogram carriers with an additional articulation point on the basic stand ensures that the two vertical partial arms of the second parallel program carrier are always in a vertical position.

A third, horizontally extended parallelogram carrier is pivotally attached to the peripheral vertical arm via a second horizontal pivot axis, the peripheral vertical arm of which is also always vertically oriented and has a central vertical part

ORIGINAL DOCUMENTS fourth, vertically extending parallelogram carrier is connected.

A surgical microscope is rotatably or pivotably attached to a lower horizontal part arm of the fourth parallel log carrier, which thus has any degree of freedom in order to be brought into a desired position and held in this position by a user. All parallelogram carriers have a relatively solid main carrier and a weaker secondary carrier, which essentially only transmits trains or pressures. For static reasons, it follows that all massive main beams face the space circumscribed by the tripod, which is usually used by a user.

The main girders are bent from their - statically effective - straight longitudinal extension. This was desirable in the prior art because the attempt was made to make the space as large as possible for the user.

One of the ideas of conventional operating stand manufacturers is in the direction that greater solidity of the components and higher weights (counterweights) are good for the stability of the stand during its use.

The Contraves company also brought a similar microscope stand onto the market with two separate balancing weights, one on the horizontal parallel link transmitting the balancing force being movable in the horizontal direction and the other on the same in the vertical direction. Such a tripod is also described, for example, in the older EP-3-476551. With this tripod, the main girder was not cranked, which led to a certain restriction of the working space for the user, such as you can see, for example, comparing Fig. 1 of the '551 publication with Fig. 4 of the' 290 publication.

Em tripod according to the more recent EP-A was taken by the applicant of this EP-A (Mitaka) together with the application ^¬ rin on the market. However, there are also disadvantages to the advantage of gaining space with this tripod: the production of the cranked arms is considerably more complex than the use of straight arms. The cranking of the main girder leads to scissor-like overlaps in the end region of the parallel girder with the secondary girder, as can best be seen in FIGS. 1-6 of EP-A. This overlap has a certain disadvantage, especially for inexperienced operating personnel, because if the staff is inattentive, cables, items of clothing, objects or even extremities of the people could become jammed. This applies above all to the area in the immediate vicinity of the load, for example the microscope, since the user generally develops his or her immediate activities.

Xej gmg the applicant in the present invention also based on the thesis according to the invention that even light Mixroscopes can have good stability, provided that they have other structural components. Ais wεser.t- _ιcr.er advantage over the known solid tripods, this would result in a better transportability and thus also a more universal applicability (fewer problems with the load-bearing capacity of the surface, etc.). On the other hand, it should be possible to achieve larger action radii for the user with such a low weight.

These objects, together with the desire to simplify the process, were the basis of this invention. So z.3. longer, straight arms (without cramps) detach cranked but heavy and therefore rather short arms in order to achieve the same freedom for the user without cranking (which is expensive in terms of production).

On the other hand, due to the new construction according to the invention, the movement geometry already sufficient in the prior art should not deteriorate.

The supports according to the invention which are used and which can still be used in the context of parallelogram supports if required, should be as straight and simple components as possible.

In fulfilling these tasks, the applicant created a tripod that uses at least one support made of a fiber-reinforced plastic.

Based on the concept of replacing conventional parallel arms with fiber-reinforced plastic elements, in particular pipes, according to the invention, weight can be saved while increasing the strength or the radius of action. The tripod will therefore be lighter. This effect increases noticeably - since the weight of the carrier as well as the weight of the load must be compensated by counterweights - by reducing the weight of the carrier by reducing the weight of the arms.

A tripod according to the invention thus becomes more transport-friendly and also fulfills the other tasks set out at the beginning.

Preferred embodiments use as plastics thermoplastics, thermosets, thermosets (epoxy resins) or a mixture thereof, with carbon fibers, aramid fibers, glass or mineral fibers, polyamide fibers or a mixture thereof being preferred as the fiber material. In this context, express reference is made to the applicant's earlier Swiss patent application "mZP3531CH dated October 12, 1995", in which aspects of this invention have already been mentioned. Both applications together with the Swiss patent application "m. Z.P3623CH" filed on the same day as the present application describe a completely new microscope with several inventions and advantageous variants. For the purpose of a later contraction-favored contraction of the teachings of these three applications, reference is therefore expressly made to these and the content thereof is considered to be disclosed herein.

However, the present invention is not limited to use in conjunction with the teachings of the aforementioned Swiss applications, but rather can also be used with other tripods, e.g. find application in robotics or astronomy.

According to a further development of the invention, the mechanical and dynamic properties of the supports can be influenced by means of targeted adjustment of the fiber orientation. For example, various fibers or layers of the carrier can be used: filament Wmdmg, braided tube, fabric and scrim, laid or oriented in a directional or special angle. For example, in a concrete example of the senκ.recnte main stand, which carries the main bearing of the tripod, with an isotropic scrim (pipe groove = 0 °, scrim direction layers + _ approx. 45 ° or with obtuse angles, e.g. 0, ^ 45- 55 °, which results in none of the torsional rigidity, which is advantageous, especially since the tripod on the main stand is in the most ergeorem condition before any stresses can occur, e.g. horizontal movement with load suspension or activation of the brakes while the microscope is moving more delayed

Using carbon fibers with a thermoset, the main star is preferably made from an approx. 4 mm thick Rcr.r ~ ιt l.cr Diameter and the mentioned angular direction laid crosswise, with a fiber weight of approx. 130-160g / m ² . As a particularly preferred, the angular direction can also vary slightly, so that essentially identically oriented layers are also blocked: for example, if a desired direction of 55 ° is used, one layer is placed in the 50 ° direction and a second layer with a 60 ° direction immediately so that the direction is 55 ° in the section. This leads to an improvement in the breaking strength of the wearer. This last-mentioned type of winding is of course also advantageous for the other supports of the tripod, although a more acute angle is preferred for the lower supports, z.3. 0, + (15-25 °) to (+ 30-40 °), since these ronre are subjected to greater strain on tension / compression and bending

The invention thus provides the geometric requirements. Components particularly suitable and coordinated recnanical components with lower weight and greater strength. Further special training and variants for this purpose are described in the patent claims.

If the carriers are made - in particular from caroon: a stronger Tnermoset - there is a further nervous effect compared to what is known, especially if the carriers ⁽ pipes) are ground, polished and varnished. The structure of the carbon fibers under the Lac: sicr.tbar wirα results in color effects and a pleasing appearance that is significantly improved compared to the previous one, which is desired and advantageous in the course of loosening up the optics in the operating theaters.

The use of approx. 10 parts by weight of blue colored lacquer in a ratio: J approx. 90 parts by weight of clear lacquer is particularly appealing. The lacquer can preferably be sprayed on or applied using the immersion method.

For preparation, according to an exemplary embodiment, τ_e using Aafblastechnologie, Spannfolier.Λ_c-.eltecr.r.c_c- carbon fiber-reinforced pipes, after they have hardened, are lightly sanded using a grit of approx. 300-400 (eg according to DIN 69100). This is followed by polishing with a polishing agent, for example M-Scotch-Brite 7448 (trademark of 3M), the grinding and polishing direction preferably being in the respective fiber direction. Subsequently, after thorough cleaning, the paint mixture mentioned is sprayed on and the tube is completely dried. In order to obtain an improved depth effect, a second similar lacquer layer can be applied in a wet-wet process. The optically appealing translation effect can be influenced by changing the color lacquer components: Color lacquer components with more than 10 weight points result in less translation. Color lacquer components with less than 10 weight points Color lacquer leads to more translation. This can be increased up to the "crystal clear effect". In the example shown, 2-component epoxy paints were used with a good visual effect.

The connection between the fiber-reinforced pipes or supports and the other components can be made by means of a metallic interface, which can be attached, for example, by means of screws or split pins or by gluing to the respective ring or support.

Another measure, which is independent of the above, is implemented according to the invention in order to dampen any vibrations in the mechanical structure and thus to achieve improved operational reliability:

According to this particular embodiment of the invention, at least one interface between two tractive components of the stand is kept free of tension. In the simplest case, this is done by checking the Veromuur.gz these components (e.g. a screw connection), so that the parts do not move together. 8 - can remove one another, but vibrations or oscillations can be transmitted poorly.

Additional damping effects can be achieved if damping materials are provided as intermediate storage at the corresponding interfaces.

As an essential effect according to the invention, this measure prevents vibrations occurring on the microscope, triggered by small bumps or changes in position, from running through the entire tripod and possibly reflecting on the dividing surface (eg floor or ceiling) by the tripod to get back to their origin.

Preferred places for the stress-free separation are those places on the tripod where there is a balanced equilibrium and therefore hardly any bending stresses occur. In one embodiment, the position immediately below the main bearing in the stand was provided as such, since the tripod above the main bearing m is in a balanced state, in particular if it is constructed in accordance with the designation "m.Z.? 3531CH".

Additional areas for relieving tension and / or inserting damping materials may also be between the bearing points for bicycles and stand-up scissors. or the like unα cen other components of the tripod.

If necessary, the structures according to the invention can advantageously also be provided with motorized actuators, which are easier than previous metal solutions, which, if necessary, enable the inclination of the support arms to be adjusted automatically, for example in order to bring the tripod - remotely controlled - to a preselected position. Of course, for a corresponding full automation, position or path detections are also required, which are used as a reference for serve required drives. On the other hand, to know, in accordance with a particular embodiment of the invention, but such At ^¬ gear as stepper motors with integrated Senso¬ ren be formed so that the drive and measurement take place in one operation. As a result, tripods can be positioned completely automatically, which, in contrast to known tripods (now, for example, according to EP-A-554711 from Carl Zeiss), use elegant, light-weight support elements and are accordingly lightweight.

In the course of an automatic balancing, it is also particularly advantageous if the vibration damping provided according to the invention is present, since measurements of the equilibrium conditions are unaffected and the balancing can take place more quickly, the speed being fundamentally increased due to the reduced dead weight and therefore reduced inertia.

When using novel fiber-reinforced tube-shaped supports according to the invention, it is a further advantage to lay electrical lines and / or liquid or gas ducts inside the tubes, from which they can be found. space-saving effects and an integrated design result, which are also better sterilized on the outside.

According to a further development, covers are provided for joints and exposed parts of the tripod, which can be constructed from? Integral foam, as mentioned in the application "M. Z. PΞ531CH", or alternatively also from ABS plastic - optionally foamed. These covers, together with the new carrier materials, result in a user-friendly exterior that advantageously does not feel metallic cold when touched by Becien personnel and is also protected against stress in the covered areas. Figure description

The figures are described in context. The description of the figures and the list of reference symbols form a unit which is complementary to one another through the remaining parts of the description and claims in the sense of a complete disclosure. The same reference symbols mean the same components. The same reference numerals with different indices mean similar, functionally identical components. The figures are only shown by way of example and are not necessarily proportionally correct. The list of figures forms a unit with the list of figures of the "m.Z.P3531CH" mentioned and with the "m.Z.P3623CH" and, in the case of a combination of the features of the three applications, is to be read with one another, as is the associated description.

Fig.l shows a design view of a tripod according to the invention with fiber-reinforced carriers according to the invention and a stand of the same type.

Fig. 2 a symbol representation of a new tripod with a zone of voltage-free separation and

3 a symbol representation of a tripod support tube used according to the invention with the fiber orientation, a detail of a structure according to FIG. 1 in section,

A stand foot 23 carries a stand la, which receives a main bearing 18; according to FIG. 2, the stand la is divided into two parts and provided with an interface 96a, which - in the example here - is flange-shaped and the stand m has two sections la and lb shares. It could also be a bearing block for the bearing 18 attached to the stander la, so that the interface is formed between this and the stander la. What is important at the interface is that there is no noteworthy soannunc Jeertraqt in the vertical direction or in the direction of the extension. The screws symbolically indicated there are not tightened, for example. This plays little role in terms of strength, since the entire stand above the bearing 18 is in any case balanced, so that practically no bending forces occur at the interface 96a.

In the context of the invention, however, comparable interfaces can also be set up at other points 96b-e. They always serve to avoid transmitting vibrations in the system as far as possible. Especially in areas with bending stress, e.g. 96b, c, vibration-damping intermediate layers can also be installed, the task of which is to destroy mechanical vibrations or to convert m heat.

The supports 1, 2, 4, 16, 40 are preferably made of fiber-reinforced plastic and are accordingly particularly light, so that the counterweights 5 can also be leicr.f sem and the overall structure is reduced in weight compared to conventional structures.

3 shows symbolically how the fibers 98 are oriented in the example. Four fiber layers fluctuate at an angle of -_ 40 ° -50 ° to 0 ° (direction of tube 97, which is used as a support). Adjacent angular positions (40 °, 50 °) result in an effective angular position of 45 ° (98c), which is important for achieving the bending or torsional rigidity. Such small angular differences, however, somewhat increase the breaking strength compared to a single-layer angular direction (e.g. only 45 °), since the neighboring ones. Fibers obviously block the otherwise preferred breaking direction along the winding layer.

The brake (10) and measuring device according to the invention correspond, for example, to the detailed drawing m FIGS. 18 and 19 of the “mZ 3531 CH”, however, the invention is not restricted to this. The use of the new tripod is not restricted to microscopy. In particular, the optical area, near and far magnifications, but also robotics or the like. fall under it.

- 13 - List of reference symbols

For the sake of simplicity and with regard to a possible later combination of the teachings of the three applications, this list of reference symbols is continued after the application "mZP3531CH" and "mZP3623CH" and is supplemented by the new reference ^{symbols of} this application.

la stander, preferably rollable on the floor; is only shown symbolically with a straight rod; could also be C-shaped, box-shaped or comparable; does not necessarily have to be used for a floor installation or installation, but could also be reversed and mounted on a ceiling, other surfaces or furnishings - which can be moved if necessary.

lb stand head, is a component that closes the stand upwards to accommodate the swiveling parts of the stand and in particular sits on the stand I in a rotatable manner.

2, a, b load arm, possibly made up of several bars; e.g. one or more parallelogram guides

2 load, e.g. Microscope, but could also be any component sem that is to be held on a tripod, e.g. Rcbo arm, telescope or the like.

4, a, b, c compensation arm, possibly made up of several bars; e.g. eme or more parallelogrammeur.rur.ger.

5a-c balance weight movable; can in particular be divided in one piece. One of different aspects of the invention is that two separate balancing weights for two movement functions separated from one another, namely by a vertical 64 and by a horizontal Ξrer.e 8 load suspension, includes devices for holding a microscope or other loads; In particular, according to a development of the invention, the load suspension also includes its own balancing system with load and balancing arms as well as measuring devices and balancing weights which corresponds to the balancing system of the stand itself;

9 pivot axis (horizontal pivot axis) for the load arm 2 on and / or compensating arm 4, on which they can pivot from a horizontal plane 63;

10 braking device, for braking or mutually fixing mutually movable components;

16 Zuσarm horizontal (a) vertical

IS pivot point or section through the axis of rotation or pivot axis (vertical pivot axis) about which the stand can pivot from a vertical plane.

23 feet of the tripod, is used for support on the floor, but is also conceivable conversely as a holding part on a ceiling or the like with modified holding elements (no rollers); 25a, b wheels for foot, can be rigid (only one preferred

Direction of transport) or rotatably attached; are preferably fixable or can be lifted off the floor by means of parallel feet or retracted into the foot 23 in order to allow the foot to be set down on the floor;

26 adjusting mechanism, e.g. Set screw

3C transport handle, for pushing or pulling ces tripod; by means of a special handle 31 it preferably specifies a special transport direction;

- - o. _* -. lo LCiJt _j t; 32 electric or optical supply line or the like. f _o r functions of the stand, for example, brakes or the load (microscope);

33 housing of the foot 23, for lowering the overall center of gravity of the stand made of cast material or the like. and / or covered or formed from plastic;

34 pivot bearings

40a, b swivel stand, is the component which is vertical in the idle state and which carries the horizontal swivel bearing 9 or which holds the height; its function is, when pivoting from a vertical plane 64, the pivot bearing 9 and thus the

To move the load arm 2 laterally so that the load 3 can be moved away from the vertical plane 64 and towards it; it has a vertical extension below the vertical swivel bearing 18, which serves as a balancing arm and takes up the balancing weight 5b;

41 Hose duct - especially corrugated hose - is used to hold and protect electrical or optical supply cables for the load 3.

43a-ri cover cap, preferably made of integral foam that is closed on all sides, is easily attached for service purposes to the points of the stand that have joints and prevents injuries or damage in the event of a collision; the low weight and the ability to be molded are further advantages. which give the tripod a pleasant appearance with little means;

c ca-e support hori zontal 87a-c chain, straps or the like

89a vertical carrier with chain or belt drive; the chain or belt or belt drive could also be replaced within the scope of the invention by means of a cardan shaft drive and corresponding bevel gears in a manner known per se.

91 End point at the lower horizontal beam from which the load is suspended

93 Bearings for load suspension 8

96a-e interface, connection between adjacent parts of the tripod, if necessary with an elastic, vibration-damping intermediate layer e.g. from a high-pressure rubber with a high level of motion energy conversion

97 fiber reinforced tube for tripod support

r layers of carbon or the like

Claims

1. Tripod, in particular for surgical microscopes, with vertical and horizontal supports (1, 2, 16, 40), characterized in that at least one of the supports

(1,2,16,40) is built up from fiber-reinforced composites.

2. Tripod according to claim 1, characterized in that the plastic is thermoplastics, thermosets, thermoset

(Epoxy resins) or a mixture thereof are provided, and / or carbon, aramid, glass, mineral or polyamide fibers or a mixture thereof are provided as the fiber material.

2. Tripod according to claim 1 or 2, characterized in that the fibers are oriented according to at least one of the following winding methods: filament winding, braiding hose, fabric and scrim, unidirectional or in a special angle for extending the support, where the angle as a function of the vibration damping and / or rigidity or strength is selected.

4. Tripod according to one of the preceding claims, characterized in that the fiber-reinforced plastics are ground on their upper side, preferably polished and / or lacquered, a lacquer mixture of approximately 90 parts by weight of clear lacquer and approximately 10 parts by weight of colored lacquer being preferably applied, whereby especially acrylic lacquers, epoxy lacquers, epoxy-acrylic lacquers and preferably water-based lacquers are used.

I. Tripod according to one of the preceding claims, characterized in that at least one of the supports (1, 2, 16, 40), in particular that of fiber-reinforced

Plastic has at least one - possibly metallic - interface (96) which connects it with a - 18 - connects adjacent part, or that divides it in two and connects, the connection being kept stress-free

6. Stand according to claim 5, characterized in that the interface (96) comprises a steaming intermediate layer, preferably made of an elastomeric material.

7. Tripod according to claim 5 or 6, characterized by the fact that the interface (96a) is arranged below the main pivot bearing (18) and or that any wheels (25) or adjustable feet of the tripod foot with respect to the latter have a damping layer are spaced.

8. Stand according EMEM of the preceding claims, characterized in that in the event of crossed Winkella¬ the Faserncntung of the fibers (98) gen two layers zu¬ each other a small angle (Z.3. Ca.l -29 ° ^c) em - close, while at least one, preferably two further layers to the first two heat layers develop a larger angle (eg approx. 30 ° -150 °).

9. Stand according to one of the preceding claims, characterized in that the support forming the stand (1) has the following fiber content:

0 ° iRcnrricntung) ^ (Ξ0 ° -60 °), while the beam (2,4,16,40) subjected to bending have the following fiber orientation: 0 ° (pipe direction) + _ (10 ° -30 °)